mola_lidar_odometry

LIDAR odometry component based on the MOLA and MRPT frameworks, compatible with ROS 2.

Contents

This repository provides a C++ library mola_lidar_odometry implementing LIDAR odometry. Sensor input is provided via MOLA components, and ROS 2 example launch files are provided in ros2-launchs.

A CLI interface mola-lidar-odometry-cli is also provided for running on offline datasets.

Build and install

Refer to: https://docs.mola-slam.org/latest/#installing

Documentation and tutorials

See: https://docs.mola-slam.org/

ROS build farm status

Distro	Develop branch	Releases	Stable release
ROS2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

EOL Distro	Last release
ROS2 Iron (u22.04)

Citation

José Luis Blanco-Claraco, A flexible framework for accurate LiDAR odometry, map manipulation, and localization, 
ArXiV 2024.
https://arxiv.org/abs/2407.20465

License

Copyright (C) 2018-2024 Jose Luis Blanco jlblanco@ual.es, University of Almeria

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

Changelog for package mola_lidar_odometry

0.4.1 (2024-12-20)

• ROS2 launch: add ros argument for new option publish_localization_following_rep105
• rviz2 demo file: better orbit view
• ROS2 config file: define env vars for all tf frames (odom, map, base_link)
• Contributors: Jose Luis Blanco-Claraco

0.4.0 (2024-12-18)

• demo rviz file: fix lidar topic name
• Include /tf remaps too in ros2 launch
• mola launch for ROS 2: Add placeholder for ros args parsing
• mola launch for ROS 2: add env variables to quickly control verbosity of each module. Env. vars. are: MOLA_VERBOSITY_MOLA_VIZ, MOLA_VERBOSITY_MOLA_LO,MOLA_VERBOSITY_BRIDGE_ROS2 (Default: INFO)
• Support for ROS2 namespaces in launch file
• docs; and fix launch var typo
• ROS 2 launch: add more ros args
• move MOLA-LO ROS2 docs to the main MOLA repo
• Expose one more runtime param: generate_simplemap
• clarify docs on sensor input topic names
• runtime parameters: update in GUI too
• publish ICP quality as part of localization updates
• mola module name changed: 'icp_odom' -> 'lidar_odom'
• Do not publish localization if ICP is not good
• Expose runtime parameters using MOLA v1.4.0 configurable parameters: active, mapping_enabled
• docs clarifications
• map_load service: allow not having a .simplemap file and don't report it as an error
• FIX: motion model handling during re-localization
• Implement map_save
• reset adaptive sigma upon relocalization
• Implement map_load; Implement relocalize around pose
• Forward IMU readings to the navstate fusion module
• CI and readme: remove ROS2 iron
• Merge branch 'wip/map_load_save' into develop
• docs: add ref to yaml extensions
• Add docs on 3D-NDT pipeline and demo usage with Mulran
• parameterize maximum_sigma
• CLI: add flag to retrieve all twists in a file; avoid use of "static" variables
• LO: Add a getter for the latest pose and twist
• doc: explain "no tf" error message
• tune 3D-NDT defaults
• Kitti and Mulran evaluation scripts: extend so they can be run with other pipelines
• ros2 launch: Add 'use_rviz' argument
• NDT pipeline: expose max sigma as parameter too
• Avoid anoying warning message when not really needed
• Extend options for GNSS initialization
• Add docs on mola-lo-gui-rawlog
• Default pipeline: reduce density of keyframes in simplemap
• Docs: mola_lo_apps.rst fix PIPELINE_YAML var name
• Update mola_lo_pipelines.rst: fix format
• recover passing var args to mola-lo-gui-rosbag2 script
• UI: show instantaneous max. sensor range too
• FIX: formula for the estimated max. sensor range fixed for asymmetric cases
• add new visualization param ground_grid_spacing
• viz: grow ground grid as the local map grows
• FIX: disabling visualization of raw observations left last raw observation rendered
• fix: separate GPS topic and sensorLabel variables
• Consistent GPS topic name
• Add another env variable: MOLA_LOCAL_VOXELMAP_RESOLUTION
• Expose new param for local map max size
• enable the relocalize API
• Expose fixed sensor pose coords as optional env variables
• Readme: add ROS badges for arm64 badges
• GitHub actions: use ROS2-testing packages
• Contributors: Jose Luis Blanco-Claraco

0.3.3 (2024-09-01)

• default 3D pipeline: Expose a couple more parameters as env variables
• Depend on new mrpt_lib packages (deprecate mrpt2)
• Contributors: Jose Luis Blanco-Claraco

0.3.2 (2024-08-26)

• Support input dataset directories for split bags
• Contributors: Jose Luis Blanco-Claraco

0.3.1 (2024-08-22)

• add missing exec dependencies to package.xml for mola-lo-* commands.
• Contributors: Jose Luis Blanco-Claraco

0.3.0 (2024-08-14)

• First public release
• Contributors: Jose Luis Blanco-Claraco